2009 IEEE 8th International Conference on Development and Learning最新文献_第4页

Creating novel goal-directed actions using chaotic dynamics 利用混沌动力学创造新颖的目标导向行动

2009 IEEE 8th International Conference on Development and Learning Pub Date : 2009-06-05 DOI: 10.1109/DEVLRN.2009.5175521

H. Arie, T. Endo, Takafumi Arakaki, S. Sugano, J. Tani

{"title":"Creating novel goal-directed actions using chaotic dynamics","authors":"H. Arie, T. Endo, Takafumi Arakaki, S. Sugano, J. Tani","doi":"10.1109/DEVLRN.2009.5175521","DOIUrl":"https://doi.org/10.1109/DEVLRN.2009.5175521","url":null,"abstract":"The present study examines the possible roles of cortical chaos in generating novel actions for achieving specified goals. The proposed neural network model consists of a sensory-forward model responsible for parietal lobe functions, a chaotic network model for premotor functions and prefrontal cortex model responsible for manipulating the initial state of the chaotic network. Experiments using humanoid robot were performed with the model and showed that the action plans for satisfying specific novel goals can be generated by diversely modulating and combining prior-learned behavioral patterns at critical dynamical states. Although this criticality resulted in fragile goal achievements in the physical environment of the robot, the reinforcement of the successful trials was able to provide a substantial gain with respect to the robustness. The discussion leads to the hypothesis that the consolidation of numerous sensory-motor experiences into the memory, meditating diverse imagery in the memory by cortical chaos, and repeated enaction and reinforcement of newly generated effective trials are indispensable for realizing an open-ended development of cognitive behaviors.","PeriodicalId":192225,"journal":{"name":"2009 IEEE 8th International Conference on Development and Learning","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-06-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133688480","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 3

Development process of functional hierarchy for actions and motor imagery 动作与运动意象功能层次的发展过程

2009 IEEE 8th International Conference on Development and Learning Pub Date : 2009-06-05 DOI: 10.1109/DEVLRN.2009.5175507

Ryunosuke Nishimoto, J. Tani

引用次数: 9

Temporal information as top-down context in binocular disparity detection 双目视差检测中自上而下背景下的时间信息

2009 IEEE 8th International Conference on Development and Learning Pub Date : 2009-06-05 DOI: 10.1109/DEVLRN.2009.5175533

M. Solgi, J. Weng

{"title":"Temporal information as top-down context in binocular disparity detection","authors":"M. Solgi, J. Weng","doi":"10.1109/DEVLRN.2009.5175533","DOIUrl":"https://doi.org/10.1109/DEVLRN.2009.5175533","url":null,"abstract":"Recently, it has been shown that motor initiated context through top-down connections boosts the performance of network models in object recognition applications. Moreover, models of the 6-layer architecture of the laminar cortex have been shown to have computational advantage over single-layer models of the cortex. In this study, we present a temporal model of the laminar cortex that applies expectation feedback signals as top-down temporal context in a binocular network supervised to learn disparities. The work reported here shows that the 6-layer architecture drastically reduced the disparity detection error by as much as 7 times with context enabled. Top-down context reduced the error by a factor of 2 in the same 6-layer architecture. For the first time, an end-to-end model inspired by the 6-layer architecture with emergent binocular representation has reached a sub-pixel accuracy in the challenging problem of binocular disparity detection from natural images. In addition, our model demonstrates biologically-plausible gradually changing topographic maps; the representation of disparity sensitivity changes smoothly along the cortex.","PeriodicalId":192225,"journal":{"name":"2009 IEEE 8th International Conference on Development and Learning","volume":"151 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-06-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122961514","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 2

Computational benefits of social learning mechanisms: Stimulus enhancement and emulation 社会学习机制的计算效益:刺激增强和模拟

2009 IEEE 8th International Conference on Development and Learning Pub Date : 2009-06-05 DOI: 10.1109/DEVLRN.2009.5175528

M. Cakmak, N. DePalma, R. Arriaga, A. Thomaz

引用次数: 14

Robust intrinsically motivated exploration and active learning 强大的内在动机探索和主动学习

2009 IEEE 8th International Conference on Development and Learning Pub Date : 2009-06-05 DOI: 10.1109/DEVLRN.2009.5175525

Adrien Baranes, Pierre-Yves Oudeyer

引用次数: 39

Surprise-based developmental learning and experimental results on robots 基于惊喜的机器人发展学习与实验结果

2009 IEEE 8th International Conference on Development and Learning Pub Date : 2009-06-05 DOI: 10.1109/DEVLRN.2009.5175513

N. Ranasinghe, Wei-Min Shen

引用次数: 7

From bottom-Up visual attention to robot action learning 从自下而上的视觉注意到机器人动作学习

2009 IEEE 8th International Conference on Development and Learning Pub Date : 2009-06-05 DOI: 10.1109/DEVLRN.2009.5175517

Y. Nagai

{"title":"From bottom-Up visual attention to robot action learning","authors":"Y. Nagai","doi":"10.1109/DEVLRN.2009.5175517","DOIUrl":"https://doi.org/10.1109/DEVLRN.2009.5175517","url":null,"abstract":"This research addresses the challenge of developing an action learning model employing bottom-up visual attention. Although bottom-up attention enables robots to autonomously explore the environment, learn to recognize objects, and interact with humans, the instability of their attention as well as the poor quality of the information detected at the attentional location has hindered the robots from processing dynamic movements. In order to learn actions, robots have to stably attend to the relevant movement by ignoring noises while maintaining sensitivity to a new important movement. To meet these contradictory requirements, I introduce mechanisms for retinal filtering and stochastic attention selection inspired by human vision. The former reduces the complexity of the peripheral vision and thus enables robots to focus more on the currently-attended location. The latter allows robots to flexibly shift their attention to a new prominent location, which must be relevant to the demonstrated action. The signals detected at the attentional location are then enriched based on the spatial and temporal continuity so that robots can learn to recognize objects, movements, and their associations. Experimental results show that the proposed system can extract key actions from human action demonstrations.","PeriodicalId":192225,"journal":{"name":"2009 IEEE 8th International Conference on Development and Learning","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-06-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128320926","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 48

Learning and use of sensorimotor schemata maps 感觉运动图式图的学习和使用

2009 IEEE 8th International Conference on Development and Learning Pub Date : 2009-06-05 DOI: 10.1109/DEVLRN.2009.5175509

C. Glaser, F. Joublin, C. Goerick

引用次数: 6

A noise-induced stability in the real-time robotic system for object handling 实时物体处理机器人系统中的噪声诱导稳定性

2009 IEEE 8th International Conference on Development and Learning Pub Date : 2009-06-05 DOI: 10.1109/DEVLRN.2009.5175538

H. Wagatsuma

{"title":"A noise-induced stability in the real-time robotic system for object handling","authors":"H. Wagatsuma","doi":"10.1109/DEVLRN.2009.5175538","DOIUrl":"https://doi.org/10.1109/DEVLRN.2009.5175538","url":null,"abstract":"In various engineering fields, separation between signal and noise is one of the important issues for the robustness of systems that are working in the real environment, and the noise reduction has been discussed when designing a robust system. On the other hand, some researches reported that adding a noise contributes to having multiple internal states and enhancing a transition between the states in the case of non-linear and biological systems, such as the stochastic resonance. It leads to a hypothesis of neuro-mimetic models in which the noise enhances their performance. We have developed the robotic platform as a combination between the real-time simulator of neural dynamics and the robotic device operating in the real world. According to communicative interruptions and time lags, the real-time simulator has the limitation in ability to control the robot, especially in time domain. The robot frequently fails in making an action with respect to the previous sensor data if the calculation is done in the proper timing, providing a deadlock behavior. We here investigated the effect of the noise induction for escaping the deadlock and completion of the ball-handling task, and reported that a self-biased noise helps a enlargement of the range of delay in the system for exhibiting proper performances. By focusing on the temporal aspect of the noise effect in non-linear systems, our research approach may benefit to the implementation and development of biological models in the real system.","PeriodicalId":192225,"journal":{"name":"2009 IEEE 8th International Conference on Development and Learning","volume":"36 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-06-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125649815","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0